Particle Filter on EpisodeにおけるHDP-HSMMを用いたリセット法

抄録

We add a reset algorithm using Hierarchical Dirichlet Process Hidden semi-Markov Model (HDP-HSMM) to Particle Filter on Episode (PFoE), which is a teach-and-replay method for an autonomous robot. HDP-HSMM is used for classification of sensor data on the memory sequence obtained in the teaching phase. The proposed algorithm for detects the discordance between the expected sequence of sensor readings and the actual one when the robot is replaying the taught motion. When the discordance becomes apparent, PFoE can retry the taught motion in at the middle of the motion by searching an appropriate recovery point. We show this method works on a small mobile robot.